Abstract
The development of a three-fingered robot hand with stiffness control capability is reported. The hand consists of three fingers each of which includes three joints. Each joint is actuated through a tendon-sheath transmission by a D.C. servo motor separately situated from the hand. A potentiometer and a newly-developed tension differential-type torque (TDT) sensor is installed at each joint. To control the joint stiffness by software, a stiffness control algorithm is executed on the computer, and the joint actuators are conjointly controlled using the joint position and torque information. The mechanisms and control of the hand system are described and the stiffness control capability of the developed hand is experimentally confirmed. Furthermore, the position-stiffness based manipulation control method previously proposed is successfully implemented in the hand.
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